ABB CRB 1100 Product Manual page 123

3.7.5.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or earlier)
Configuring the PLC
The safety PLC connecting to the laser scanner and controller must support
PROFIsafe and can act as a master. Before configuration, make sure the PLC is
loaded with the GSD files of the controller and laser scanner.
Detailed procedures about how to add an external device to the PLC and how to
configure detailed settings, see the user manual from the vendor. Following lists
the necessary settings during PLC configuration:
Configuring SafeMove
With RobotStudio
Basic steps for configuring SafeMove are as follows:
Product manual - CRB 1100
3HAC078007-001 Revision: J
• Add the scanner to the PLC by adding a mS3 6Byte In/Out PROFIsafe V2.6.1
module.
The parameters f_dest_address and f_source_address are set to 12 and 1,
respectively.
• Add the controller to the PLC by adding the DI 8 bytes, DO 8 bytes, SDI 8
bytes and SDO 8 bytes modules.
The parameters f_dest_address and f_source_address for the SDI are set to
3 and 2, respectively, and for the SDO are set to 5 and 4, respectively.
• Make sure the address for the SDO signal is the first address of SDO 8 bytes
slot.
• Create variables.
Name
ProtectingTrigger
WarningTrigger
ProtectingSSTTrigger
WarningTSPTrigger
ProtectingArea
WarningArea
ProtectingAreaSST
WarningAreaTSP
SafetyCommunicationEnable
ActivateScanner
i
%I3.X and %I4.X are the addresses of the laser scanner; %Q68.X is the address of the
OmniCore controller.
%Q3.0 is for activating the monitoring cases of the laser scanner.
• Check the communication between the PLC and controller is well and activate
the laser scanner; set up the communication between the laser scanner, PLC
and OmniCore controller.
1 Make some initial preparations.
2 Configure system parameters.
3 Set the input and output size and name of the PROFINET internal device.
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3 Installation and commissioning
Type Example address
Bool %I3.0
Bool %I4.1
Bool %I3.2
Bool %I3.3
Bool %Q68.0
Bool %Q68.1
Bool %Q68.2
Bool %Q68.3
Bool %Q68.4
Bool %Q3.0
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